scholarly journals Control Performance of Three-Degrees-of-Freedom Micro-Moving Stage Using Motional Mode Decoupling Control together with Collocation Compensator.

1998 ◽  
Vol 64 (9) ◽  
pp. 1375-1379
Author(s):  
Shinji WAKUI
2021 ◽  
pp. 1-14
Author(s):  
Tianxu Li ◽  
Mingde Gong ◽  
Kongming Hu ◽  
Lijuan Zhao ◽  
Baoqiang Zhao

In this paper, a novel three-degrees-of-freedom (3-DOF) parallel robot is designed, which can only move in three translational directions. It avoids the difficulty in the solution for forward kinematics of the parallel robot. The robot containing only lower pairs (P and R) has a simple mechanism. The characteristic that the parallel robot has only three translational degrees of freedom can be proved by the screw theory and the DOF can be got by the formula of calculating the DOF of space mechanism. The kinematics and workspace of the parallel robot is analyzed through calculation and simulation. In order to obtain better servo control performance, the PMSM fuzzy controller is designed. The analysis and simulation results show that the mechanism design of the parallel robot is reasonable, and the effect of fuzzy controller is better than the ordinary PID controller.


2013 ◽  
Vol 765-767 ◽  
pp. 1840-1843
Author(s):  
Zhen Bi Li ◽  
Bai Ting Zhao ◽  
Yuan Yuan Jiang

Three degrees of freedom servo system (TDFSS) is one of the key equipments of inertial testing, such as evaluation of inertial navigation system and test of inertial components. It is a kind of servo system with some non-linearity and uncertainty. This thesis takes advantage of the characteristic of Neural network in approaching non-linear function, applies the Neural network on the three-axis simulator, provides a method for the TDFSS. Simulating experiment has been used to verify the advantage of the scheme and achieved completely decoupling control. The scheme gives good control precision, and it is simply structured and easily implemented.Introduction


2014 ◽  
Vol 529 ◽  
pp. 534-538
Author(s):  
Yuan Yuan Li ◽  
Huang Qiu Zhu

In the paper, the decoupling control method based on least square support vector machine (LS-SVM) inverse system is proposed, and adopting the method realizes decoupling control of an AC-DC three degrees of freedom hybrid magnetic bearing (AC-DC-3DOF-HMB). Aimed at the complicated multivariate nonlinear, strong coupling system of the AC-DC-3DOF-HMB, the reversibility of original system was analyzed, by the ability of least square support vector machines (LS-SVM) in universal approximation and identification fitting to get inverse model of AC-DC three degrees of freedom hybrid magnetic bearing. Then according to the basic principle of inverse system method, the inverse system was connected with the original system. So the complex nonlinear multivariable system is decoupled into three independent pseudo-linear system. The simulation results show that the system was decoupled; the hybrid control method has good dynamic and static performance, verify the feasibility of the proposed control method.


2018 ◽  
Vol 51 (13) ◽  
pp. 372-377 ◽  
Author(s):  
Juan E. Andrade García ◽  
Alejandra Ferreira de Loza ◽  
Luis T. Aguilar ◽  
Ramón I. Verdés

Author(s):  
A. H. S. Iyer ◽  
M. H. Colliander

Abstract Background The trend in miniaturisation of structural components and continuous development of more advanced crystal plasticity models point towards the need for understanding cyclic properties of engineering materials at the microscale. Though the technology of focused ion beam milling enables the preparation of micron-sized samples for mechanical testing using nanoindenters, much of the focus has been on monotonic testing since the limited 1D motion of nanoindenters imposes restrictions on both sample preparation and cyclic testing. Objective/Methods In this work, we present an approach for cyclic microcantilever bending using a micromanipulator setup having three degrees of freedom, thereby offering more flexibility. Results The method has been demonstrated and validated by cyclic bending of Alloy 718plus microcantilevers prepared on a bulk specimen. The experiments reveal that this method is reliable and produces results that are comparable to a nanoindenter setup. Conclusions Due to the flexibility of the method, it offers straightforward testing of cantilevers manufactured at arbitrary position on bulk samples with fully reversed plastic deformation. Specific microstructural features, e.g., selected orientations, grain boundaries, phase boundaries etc., can therefore be easily targeted.


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